#ifndef __PID_H
#define __PID_H

#include "headfile.h"

typedef struct{
    float Target;
    float Actual;
    float Out;
    
    float Kp;
    float Ki;
    float Kd;
    
    float Error0;
    float Error1;
    float ErrorInt;

    float OutMax;
    float OutMin;
}PID_t;

void PID_Update(PID_t *p);
//void PID_Speed(uint8_t n,uint8_t x);
void Set_All_Motor_Target(int8_t speed);
//void PID_Printf(void);

#endif